JP2023071646A5

JP2023071646A5 -

Info

Publication number: JP2023071646A5
Application number: JP2023007018A
Authority: JP
Filing date: 2023-01-20
Publication date: 2023-06-23

Claims

An aerial vehicle system,
a mothership, said mothership being a rotary wing aircraft such that said mothership is capable of vertical take-off and landing by generating thrust through non-ducted rotors;
an airborne vehicle, said airborne vehicle being a rotorcraft such that said airborne vehicle generates thrust through non-ducted rotors;
A winch system disposed between the mothership and the aerial vehicle, the winch system having a support line and configured to operate to adjust the length of the support line. with a winch system,
a controller configured to detect wind conditions to the aerial vehicle and determine a response to the wind ;
Determining the response to wind is
adjusting the magnitude of the lift force of the rotor of the aerial vehicle, wherein adjusting the magnitude of the lift force of the rotor of the aerial vehicle generates on the rotor of the aerial vehicle according to the wind conditions; adjusting the magnitude of the lift force of the rotor of the airborne vehicle, including directing it to generate a non-vertical thrust to at least partially counteract the applied force;
adjusting the length of the support line, wherein adjusting the length of the support line winds the winch system around the support line to coordinate tension in the support line. adjusting the length of the support line, including directing it to bear at least a portion of the vertical weight of the aerial vehicle by
aerial vehicle system.

2. The airborne vehicle system of claim 1, wherein the mothership has both (i) lifting surfaces and propellers characteristic of a fixed wing aircraft and (ii) rotors characteristic of a rotary wing aircraft.

2. The aerial vehicle system of claim 1, wherein the controller is further configured to coordinate the availability of variable thrust in non-vertical axes to support line angle and support line length.

2. The aerial vehicle system according to claim 1, wherein said mothership supports the weight of said aerial vehicle via said support line.

The controller is further configured to adjust the magnitude of lift of the rotor or the length of the support line to position the aerial vehicle at any point within an envelope; 2. The aerial vehicle system of claim 1, wherein an envelope is a sphere surrounding said winch system at the maximum length of said support line .

2. The airborne vehicle system of claim 1, further comprising a second airborne vehicle physically connected to said mothership.

2. The airborne vehicle system of claim 1, wherein the position maintained by the airborne vehicle is stationary with respect to a fixed reference point.

8. The aerial vehicle system of claim 7, wherein said fixed reference point is located on said mothership.

The controller is further configured to vary characteristics of thrust produced by thrusters onboard the aerial vehicle, vary the length of the support line, and manage the flight pattern of the mothership. 9. The aerial vehicle system of claim 8, wherein:

A system for controlling an aerial vehicle system, comprising:
receiving information about wind conditions to an airborne vehicle, said airborne vehicle being a rotorcraft in which said airborne vehicle produces thrust;
determining a response of the aerial vehicle to wind;
determining adjustments that need to be made to the length of the support line attached to the aerial vehicle to carry at least a portion of the vertical load of the aerial vehicle relative to the support line;
determining adjustments that need to be made to the airborne vehicle's thrusters to produce non-vertical thrust; and
controlling the support line or the thrusters to at least partially counteract the effects of the wind conditions on the position of the aerial vehicle;
A system for controlling an aerial vehicle system, comprising a controller configured to:

11. The system of claim 10, wherein the response to wind is determined continuously.

the controller is further configured to manipulate the magnitude of lift of the thrusters or the length of the support line to position the aerial vehicle at any point within an envelope; 11. The system of claim 10, wherein the envelope is the maximum length of the support line and is a sphere that encloses a mechanical device that can be used to manipulate the support line.

11. The system of claim 10, wherein said aerial vehicle is connected to a mothership via said support line.

14. The system of claim 13, wherein the mothership is a rotorcraft capable of vertical take-off and landing by producing thrust.

A method of controlling an aerial vehicle system, comprising:
receiving information about wind conditions to an airborne vehicle, said airborne vehicle being a rotorcraft in which said airborne vehicle produces thrust;
determining a response of the aerial vehicle to wind;
determining adjustments that need to be made to the length of the support line attached to the aerial vehicle to carry at least a portion of the vertical load of the aerial vehicle relative to the support line;
determining adjustments that need to be made to the airborne vehicle's thrusters to produce non-vertical thrust; and
controlling the support line or the thrusters to at least partially counteract the effects of the wind conditions on the position of the aerial vehicle;
A method of controlling an aerial vehicle system, comprising :

16. The method of claim 15, further comprising continuously determining the wind response.

further comprising manipulating the magnitude of lift of the thrusters or the length of the support line to position the aerial vehicle at any point within an envelope, wherein the envelope is the length of the support line; 16. The method of claim 15, wherein the sphere is at its maximum length and encloses a mechanical device that can be used to manipulate the support line .

16. The method of claim 15, wherein said aerial vehicle is connected to a mothership via said support line.

19. The method of claim 18, wherein the mothership is a rotorcraft capable of vertical take-off and landing by producing thrust.